US6377298B1 - Method and device for geometric calibration of CCD cameras - Google Patents
Method and device for geometric calibration of CCD cameras Download PDFInfo
- Publication number
- US6377298B1 US6377298B1 US09/107,564 US10756498A US6377298B1 US 6377298 B1 US6377298 B1 US 6377298B1 US 10756498 A US10756498 A US 10756498A US 6377298 B1 US6377298 B1 US 6377298B1
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- light source
- coherent light
- ccd camera
- hologram
- test structure
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N17/00—Diagnosis, testing or measuring for television systems or their details
- H04N17/002—Diagnosis, testing or measuring for television systems or their details for television cameras
Definitions
- the invention relates to a method and a device for the geometric calibration of CCD cameras.
- Geometric calibration is the determination of the viewing direction of every individual sensor pixel in the object space. If ideally distortion-free optics are used and the geometric location of every sensor pixel in the focal plane is known, the respective viewing direction can be calculated in a simple manner. However, in the case of real optics, distortions are unavoidable. Further, the sensor pixels have certain tolerances with respect to their position in the focal plane. This is due, on the one hand, to the fact that adjustment in the focal plane cannot be carried out exactly.
- CCD matrices In conventional photometric film cameras, fiducial marks are projected on the film to enable subsequent correction of imaging errors. This method is basically applicable to CCD cameras with matrices, but not for CCD lines. In order to calibrate CCD lines, CCD matrices would have to be arranged in the focal plane and they would have to be calibrated in relation to the CCD lines.
- the viewing angles must be calculated from the measured values.
- the point spread function (PSF) is measured in that the pixel-free light beam travels over a pixel in step sizes of less than one pixel dimension, which is likewise very time- consuming.
- German reference DE 195 36 297 discloses a method for the geometric calibration of optical 3D sensors for three-dimensional measurement of objects relative to a reference coordinate system.
- the method utilizes at least one camera, a device for digitizing and storing image sequences of the camera, an illumination projector which is fixed with respect to the camera and generates temporally successive light structures formed of at least one-dimensional stripes within a working volume, an illumination device for illuminating reflecting signal marks of a calibrating device, and a computer for controlling and processing the images.
- the calibrating device is moved into different positions relative to the camera within and at the borders of the working volume and is illuminated in such a way that the regions of the signal marks of the calibrating device have the highest possible gray value modulation or color modulation in the digitized and stored images without overdriving or overmodulating.
- the calibration of the camera is carried out by using a photogrammetric standard process for locating the inner and outer orientation.
- the projector has a light modulator which projects outwardly visible patterns of any stripes or pixels as image elements on the calibrating device.
- this projector is considered an inverse camera in that a real or imaginary x-y projection pattern of defined width but indefinite length in the interior of the projector is associated with the outer image elements and a plurality of observations are used for determining the parameters of the inner and outer orientation of the illumination projector, wherein geometric relationships between the x-y projection patterns and the corresponding outwardly visible patterns are produced in these observations.
- the calibrating parameters which are discovered and stored are reused when employing the 3D sensor system for measuring objects by an algorithm which corrects the beam geometries inside the camera and the projector on the one hand and calculates the x,y,z coordinates of the object in the object space based on the principle of triangulation on the other hand.
- a disadvantage in this method is that the focal length of the objective of the camera and of the projector must be adapted to one another. Further, the imaging of the projector must also be calibrated, so that the method in its entirety becomes even more time-consuming.
- a device for the geometric calibration of a CCD camera which includes a coherent light source and a synthetic hologram arranged relative to the coherent light source so that the hologram generates a real three-dimensional test structure f(x,y,z) around a focal plane of the CCD camera using coherent light.
- a method for geometric calibration of a CCD camera using a coherent light source and a synthetic hologram which includes the steps of calculating the synthetic hologram to provide a well-defined ideal three-dimensional test structure f(x,y,z) taking into account idealized camera optics of the CCD camera to be calibrated; illuminating the hologram using the coherent light source so that a real three-dimensional test structure f(x,y,z) is generated around a focal plane of the CCD camera; and evaluating in parallel a plurality of sensor pixels by determining a respective section plane through the real test structure f(x,y,z) from individual image information of each said plural sensor pixels.
- the respective geometric orientation of every individual pixel and the point spread function (PSF) of the pixels can be determined simultaneously by an individual recording or picture.
- PSF point spread function
- a focusing or sharpness adjustment can be carried out, namely the determination of the distance of the focal plane from a principal plane of the optical system. All of this leads to a considerable saving of measuring time.
- the calibration can be automated easily and also carried out outside of the laboratory. This is especially advantageous if the objective and/or the focal plane of the calibrated CCD camera must be exchanged, which results in loss of calibration.
- FIG. 1 shows a schematic view of the device for geometric calibration of a CCD camera pursuant to the present invention
- FIG. 2 is a view of the section planes of a real focal plane.
- FIG. 1 shows a schematic view of a device 1 for geometric calibration of a CCD camera.
- the calibration device 1 comprises a coherent light source for generating parallel white light 2 and a synthetic hologram 3 which is preferably formed as a white-light hologram.
- the synthetic hologram 3 is calculated beforehand in order to provide a well-defined three-dimensional test structure f(x,y,z) taking into account idealized camera optics 4 of the CCD camera to be calibrated and is subsequently produced by a known process for making holograms.
- the coherent light source which is constructed, for example, as a laser, and the synthetic hologram 3 are arranged relative to one another so that the synthetic hologram 3 generates a real three-dimensional test structure f (x,y,z) around the focal plane of the CCD camera.
- the distance of the focal plane of the CCD camera from the camera optics 4 is ideally the focal distance or focal length f of the camera optics 4 . Further, the focal plane is ideally arranged so that its X coordinate is constant.
- this is a view of the section planes of a real focal plane.
- the real focal plane position 5 and the respective associated two-dimensional section planes 6 of the three-dimensional test structure are shown in dashed lines in FIG. 2 .
Abstract
Description
Claims (5)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19727281A DE19727281C1 (en) | 1997-06-27 | 1997-06-27 | Geometric calibration device for CCD camera |
DE19727281 | 1997-06-27 |
Publications (1)
Publication Number | Publication Date |
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US6377298B1 true US6377298B1 (en) | 2002-04-23 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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US09/107,564 Expired - Lifetime US6377298B1 (en) | 1997-06-27 | 1998-06-29 | Method and device for geometric calibration of CCD cameras |
Country Status (3)
Country | Link |
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US (1) | US6377298B1 (en) |
CH (1) | CH692873A5 (en) |
DE (1) | DE19727281C1 (en) |
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US20020003965A1 (en) * | 2000-06-23 | 2002-01-10 | David Landelle | Method and apparatus for calibrating a camera |
US20030222984A1 (en) * | 2002-06-03 | 2003-12-04 | Zhengyou Zhang | System and method for calibrating a camera with one-dimensional objects |
US20040257452A1 (en) * | 2003-03-31 | 2004-12-23 | Spatial Integrated Systems, Inc. | Recursive least squares approach to calculate motion parameters for a moving camera |
WO2006075052A1 (en) * | 2005-01-13 | 2006-07-20 | Elektrobit Production Solutions Oy. | Method for forming images, method for testing electronic devices; and test apparatus, test chamber and test system |
US20070076096A1 (en) * | 2005-10-04 | 2007-04-05 | Alexander Eugene J | System and method for calibrating a set of imaging devices and calculating 3D coordinates of detected features in a laboratory coordinate system |
US20070076090A1 (en) * | 2005-10-04 | 2007-04-05 | Alexander Eugene J | Device for generating three dimensional surface models of moving objects |
US20070104361A1 (en) * | 2005-11-10 | 2007-05-10 | Alexander Eugene J | Device and method for calibrating an imaging device for generating three dimensional surface models of moving objects |
US20100039500A1 (en) * | 2008-02-15 | 2010-02-18 | Matthew Bell | Self-Contained 3D Vision System Utilizing Stereo Camera and Patterned Illuminator |
WO2012154878A1 (en) * | 2011-05-11 | 2012-11-15 | Tyzx, Inc. | Camera calibration using an easily produced 3d calibration pattern |
US8743214B2 (en) | 2011-05-11 | 2014-06-03 | Intel Corporation | Display screen for camera calibration |
CN103968859A (en) * | 2014-04-30 | 2014-08-06 | 中国科学院长春光学精密机械与物理研究所 | Geometric calibration method for ultraviolet limb imager with extra large viewing field |
CN103968858A (en) * | 2014-04-30 | 2014-08-06 | 中国科学院长春光学精密机械与物理研究所 | Geometric calibration device for ultraviolet imager with extra large field-of-view |
US9058058B2 (en) | 2007-09-14 | 2015-06-16 | Intellectual Ventures Holding 67 Llc | Processing of gesture-based user interactions activation levels |
US9229107B2 (en) | 2007-11-12 | 2016-01-05 | Intellectual Ventures Holding 81 Llc | Lens system |
US9247236B2 (en) | 2008-03-07 | 2016-01-26 | Intellectual Ventures Holdings 81 Llc | Display with built in 3D sensing capability and gesture control of TV |
US9572715B2 (en) | 2014-07-25 | 2017-02-21 | Amo Manufacturing Usa, Llc | Systems, devices, and methods for calibration of beam profilers |
US20170098305A1 (en) * | 2015-10-05 | 2017-04-06 | Google Inc. | Camera calibration using synthetic images |
US10728519B2 (en) | 2004-06-17 | 2020-07-28 | Align Technology, Inc. | Method and apparatus for colour imaging a three-dimensional structure |
US10944956B2 (en) * | 2017-07-11 | 2021-03-09 | Autel Robotics Co., Ltd. | Image calibration method and apparatus applied to three-dimensional camera |
US10952827B2 (en) | 2014-08-15 | 2021-03-23 | Align Technology, Inc. | Calibration of an intraoral scanner |
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DE19957495B4 (en) * | 1999-11-19 | 2006-06-22 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Method and apparatus for calibrating aerial cameras |
DE19960873C2 (en) * | 1999-12-17 | 2002-06-20 | Hema Elektronik Fertigungs Und | Process for the geometric self-calibration of an image processing system |
DE10013299C2 (en) * | 2000-03-09 | 2003-04-17 | Deutsch Zentr Luft & Raumfahrt | Method and device for the geometric calibration of pixel-oriented photosensitive elements |
DE10065120C2 (en) * | 2000-12-28 | 2003-03-20 | Inb Vision Ag | Method for determining the deviation of the pixel location of the pixels of at least one image recording matrix from the target position |
DE10065121A1 (en) * | 2000-12-28 | 2002-07-11 | Inb Vision Ag | Methods to improve the accuracy of 3D optical measurement methods |
DE102004020881B4 (en) * | 2004-04-26 | 2007-03-08 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Method and device for the geometric calibration of optoelectronic measuring camera |
DE102004056723B4 (en) * | 2004-11-19 | 2007-04-05 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Method and device for geometric calibration of an optoelectronic sensor system |
DE102005035678A1 (en) * | 2005-07-27 | 2007-02-01 | Adc Automotive Distance Control Systems Gmbh | Device for calibrating a camera |
DE102005056188B3 (en) * | 2005-11-21 | 2007-04-19 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Point spread function determining device for optical sensor system e.g. camera, has light modulator controlled by evaluation and control unit, where point spread function is determined by evaluation and control unit |
DE102005061931B4 (en) * | 2005-12-23 | 2011-04-14 | Bremer Institut für angewandte Strahltechnik GmbH | Method and device for calibrating an optical device |
DE102006018866B3 (en) | 2006-04-13 | 2007-09-13 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Star camera calibrating and testing method, involves producing defined star formations in field of vision of camera from diffraction patterns, and adjusting intensity of radiation incident in camera according to known values of star catalog |
DE102010005358B4 (en) | 2010-01-21 | 2016-01-14 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Method and device for calibrating two optical sensor systems |
DE102015103785A1 (en) | 2015-03-16 | 2016-09-22 | Hochschule Offenburg | Method and device for calibrating a camera |
DE102019135222A1 (en) * | 2019-12-19 | 2021-06-24 | Connaught Electronics Ltd. | System for determining the field of view (FOV) of a camera |
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US4376950A (en) * | 1980-09-29 | 1983-03-15 | Ampex Corporation | Three-dimensional television system using holographic techniques |
US5184232A (en) * | 1985-10-17 | 1993-02-02 | Michael Burney | Holographic display imaging process |
US5444481A (en) | 1993-01-15 | 1995-08-22 | Sanyo Machine Works, Ltd. | Method of calibrating a CCD camera |
DE19536297A1 (en) | 1995-09-29 | 1997-04-03 | Daimler Benz Ag | Geometric calibration of optical 3-D sensors for three=dimensional measurement of objects |
US6147702A (en) * | 1998-04-17 | 2000-11-14 | Intel Corporation | Calibration of digital cameras |
-
1997
- 1997-06-27 DE DE19727281A patent/DE19727281C1/en not_active Expired - Lifetime
-
1998
- 1998-04-07 CH CH00828/98A patent/CH692873A5/en not_active IP Right Cessation
- 1998-06-29 US US09/107,564 patent/US6377298B1/en not_active Expired - Lifetime
Patent Citations (5)
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US4376950A (en) * | 1980-09-29 | 1983-03-15 | Ampex Corporation | Three-dimensional television system using holographic techniques |
US5184232A (en) * | 1985-10-17 | 1993-02-02 | Michael Burney | Holographic display imaging process |
US5444481A (en) | 1993-01-15 | 1995-08-22 | Sanyo Machine Works, Ltd. | Method of calibrating a CCD camera |
DE19536297A1 (en) | 1995-09-29 | 1997-04-03 | Daimler Benz Ag | Geometric calibration of optical 3-D sensors for three=dimensional measurement of objects |
US6147702A (en) * | 1998-04-17 | 2000-11-14 | Intel Corporation | Calibration of digital cameras |
Non-Patent Citations (1)
Title |
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Article entitled "Geometric Calibration of Digital Three-Line CCD Cameras" by Timm Ohlhof, Wolfgang Kornus, pp. 71-81 published in Int-ArcPhRS = International Archives of Photogrammetry and Remote Sensing. |
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US20020003965A1 (en) * | 2000-06-23 | 2002-01-10 | David Landelle | Method and apparatus for calibrating a camera |
US7250965B2 (en) * | 2002-06-03 | 2007-07-31 | Microsoft Corporation | System and method for calibrating a camera with one-dimensional objects |
US20030222984A1 (en) * | 2002-06-03 | 2003-12-04 | Zhengyou Zhang | System and method for calibrating a camera with one-dimensional objects |
US20060132868A1 (en) * | 2002-06-03 | 2006-06-22 | Microsoft Corporation | System and Method for Calibrating a Camera With One-Dimensional Objects |
US20060132869A1 (en) * | 2002-06-03 | 2006-06-22 | Microsoft Corporation | System and Method for Calibrating a Camera With One-Dimensional Objects |
US7068303B2 (en) * | 2002-06-03 | 2006-06-27 | Microsoft Corporation | System and method for calibrating a camera with one-dimensional objects |
US7274388B2 (en) * | 2002-06-03 | 2007-09-25 | Microsoft Corporation | System and method for calibrating a camera with one-dimensional objects |
US20040257452A1 (en) * | 2003-03-31 | 2004-12-23 | Spatial Integrated Systems, Inc. | Recursive least squares approach to calculate motion parameters for a moving camera |
US7333133B2 (en) * | 2003-03-31 | 2008-02-19 | Spatial Integrated Systems, Inc. | Recursive least squares approach to calculate motion parameters for a moving camera |
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US10944953B2 (en) | 2004-06-17 | 2021-03-09 | Align Technology, Inc. | Method and apparatus for colour imaging a three-dimensional structure |
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DE19727281C1 (en) | 1998-10-22 |
CH692873A5 (en) | 2002-11-29 |
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